CN108335337A - A kind of generation method and device of orthophotoquad - Google Patents
A kind of generation method and device of orthophotoquad Download PDFInfo
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- CN108335337A CN108335337A CN201710048480.2A CN201710048480A CN108335337A CN 108335337 A CN108335337 A CN 108335337A CN 201710048480 A CN201710048480 A CN 201710048480A CN 108335337 A CN108335337 A CN 108335337A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/001—Texturing; Colouring; Generation of texture or colour
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
- G01C21/3881—Tile-based structures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
Abstract
This application discloses the generation methods of orthophotoquad：According to default sampling rule, sample track point is chosen in the tracing point generated when driving on road from collecting vehicle；For a sample track point, according to the coordinate of the sample track point, the travel direction angle of collecting vehicle and the mapland length of side, determine the road area range of orthography map combining to be rendered, the range includes at least one grid, and each grid corresponds to a pixel of orthophotoquad to be rendered；The height value that each grid is obtained in the point cloud data of the road generated in motion from collecting vehicle according to the plane coordinates of each grid obtains the three-dimensional coordinate of grid；The corresponding color of each grid is obtained according to the three-dimensional coordinate of each grid, the image data of road and camera parameter；It is the corresponding color of corresponding grid by the color rendering of each grid corresponding pixel in orthophotoquad to be rendered, the program has fully considered the height change on road surface, generates more accurate orthophotoquad.
Description
Technical field
This application involves technical field of map data processing, more specifically to a kind of orthography map generalization side
Method and device.
Background technology
Orthophotoquad is the plan view with orthogonal projection property, since it is intuitive with geometric position information and image
Property the features such as, be used for generate map obtain orthophotomap, be widely used in navigation product.
The orthophotoquad of generation pavement of road, the prior art is needed to generate road surface when generating orthophotomap
When orthophotoquad, it sets pavement-height to unified level altitude value, during carrying out orthogonal projection processing, by this
Input parameter of the level altitude value as processing, finally obtains the orthophotoquad on road surface.
In reality, road surface often has a fluctuating, the height on road surface be not it is unalterable, therefore, in the prior art simultaneously
The variation of pavement-height is not fully taken into account, and sets pavement-height to unified level altitude value, this can cause basis
The accuracy for the orthophotoquad that unified fixation pavement-height is worth to is not high.
Invention content
In view of this, the application provides a kind of generation method and device of orthophotoquad, to eliminate due to height value not
The inaccurate problem of the accurate orthophotoquad for causing to generate.
To achieve the goals above, the application provides a kind of generation method of orthophotoquad, and this method includes：
According to preset sampling rule, in the tracing point generated when driving on road from collecting vehicle, sample track is chosen
Point；
For a sample track point, according to the coordinate of the sample track point, the travel direction angle of collecting vehicle and preset
The mapland length of side determines that the road area range of orthography map combining to be rendered, the road area range include
At least one grid, each grid correspond to a pixel of the orthophotoquad to be rendered；
According to the travel direction angle of the coordinate and collecting vehicle of the sample track point, the plane coordinates of each grid is obtained；
According to the plane coordinates of each grid, the point cloud of the road generated when driving on the road from collecting vehicle
The height value of each grid is obtained in data, the height value and plane coordinates of grid constitute the three-dimensional coordinate of grid；
Each grid is obtained according to the three-dimensional coordinate of each grid, the image data of the road and preset camera parameter
Corresponding color, the camera parameter are mounted in the camera parameter of road image data described in the collecting vehicle photographs；
The color rendering of each grid corresponding pixel in orthophotoquad to be rendered is corresponded to for corresponding grid
Color.
The application also provides a kind of generating means of orthophotoquad, which includes：
Sample track point selection unit, for according to preset sampling rule, being generated when driving on road from collecting vehicle
Tracing point in, choose sample track point；
Range determination unit, for being directed to a sample track point, according to the coordinate of the sample track point, the row of collecting vehicle
Deflection and the preset mapland length of side are sailed, determines the road area range of orthography map combining to be rendered, the road
Road regional extent includes several grids, and each grid corresponds to a pixel of the orthophotoquad to be rendered；
Plane coordinates determination unit is used for the travel direction angle of the coordinate and collecting vehicle according to the sample track point, obtains
To the plane coordinates of each grid；
Three-dimensional coordinate determination unit is travelled from collecting vehicle on the road for the plane coordinates according to each grid
The height value of each grid is obtained in the point cloud data of the road of Shi Shengcheng, the height value and plane coordinates of grid constitute net
The three-dimensional coordinate of lattice；
Color determination unit, for according to the three-dimensional coordinate of each grid, the image data of the road and preset phase
Machine parameter obtains the corresponding color of each grid, and the camera parameter is mounted in road picture described in the collecting vehicle photographs
The camera parameter of data；
Rendering unit, for the color rendering of corresponding pixel to be in orthophotoquad to be rendered by each grid
The corresponding color of corresponding grid.
It can be seen from the above technical scheme that in the tracing point that the application is generated from collecting vehicle on road when driving,
Choose sample track point, for a sample track point, according to the coordinate of the sample track point, collecting vehicle travel direction angle and
The preset mapland length of side determines the road area range of orthography map combining to be rendered, the road area range
Include several grids, calculate the plane coordinates of each grid, according to the plane coordinates of each grid, from collecting vehicle in the road
The height value of each grid is obtained in the point cloud data for the road that road generates when driving, and then obtains the three-dimensional of grid and sits
Mark, and then each grid is obtained according to the three-dimensional coordinate of each grid, the image data of the road and preset camera parameter
Corresponding color, and be corresponding grid by the color rendering of each grid corresponding pixel in orthophotoquad to be rendered
Corresponding color.In above-mentioned orthophotoquad generating process, point cloud data includes the true altitude value of pavement of road sampled point,
So the height value for obtaining each grid from point cloud data is the height value the most true that net region corresponds to image, therefore
The height relief variation that orthophotoquad adequately considers road surface is generated based on the three-dimensional coordinate that this includes true altitude value,
It eliminates due to the inaccurate problem of the orthophotoquad generated caused by height value parameter inaccuracy.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of generation method flow chart of orthophotoquad disclosed in the embodiment of the present application；
Fig. 2 is the exemplary plot for the road area range that the application determines orthography map combining to be rendered；
Fig. 3 is a kind of method flow diagram of determining target road picture disclosed in another embodiment of the application；
Fig. 4 is the exemplary plot of the application camera shooting distance；
Fig. 5 is a kind of generating means composition frame chart of orthophotoquad disclosed in the embodiment of the present application.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall in the protection scope of this application.
The embodiment of the present application provides a kind of generation method of orthophotoquad, and detailed process is as shown in Figure 1.
Step S100：According to preset sampling rule, in the tracing point generated when driving on road from collecting vehicle, choose
Sample track point；
Wherein, collecting vehicle carries out the acquisition of road image data during along road driving, and generates in this process
Tracing point, the positioning device that the corresponding location information of tracing point can be carried by collecting vehicle such as GPS positioning device, inertial navigation positioning are set
It is standby to acquire.
Preferably, the sampling that preset distance threshold can be equal to according to the distance between two neighboring sample track point is advised
Then, in the tracing point generated when driving on road from collecting vehicle, sample track point is chosen.
Specifically, preset distance threshold can be equal to the length value in the length of side of preset mapland, mapland
The side for being parallel to vehicle heading be long side, such as length value be 20 meters, then the two neighboring sample track point selected
The distance between be 20 meters.
Step S110, it is directed to a sample track point, according to the coordinate of the sample track point, the travel direction angle of collecting vehicle
With the preset mapland length of side, the road area range of orthography map combining to be rendered, the road area model are determined
It includes at least one grid to enclose, and each grid corresponds to a pixel of the orthophotoquad to be rendered；
Wherein, the coordinate of sample track point can be latitude and longitude coordinates, can also be the transformed plane coordinates of longitude and latitude；
The travel direction of collecting vehicle is the travel direction of collecting vehicle when generating the sample track point, and travel direction angle refers to traveling side
To the angle with direct north, can be collected from the inertial navigation equipment of vehicle；Length value in the preset mapland length of side can
With with the difference of the close-perspective recording photographic range of camera and farthest shooting distance value determine, as shown in figure 4, such as camera it is nearest shoot away from
From being 2 meters in front of camera, farthest shooting distance is 22 meters in front of camera, and difference is 20 meters, therefore length value can be set as 20 meters；
And width value can be configured according to the width of road, being subject to mapland is capable of the width of covering path.
By taking the default mapland length of side is 20m*20m as an example, it is assumed that current vehicle is travelled in middle lane, then to be rendered
Position of the road area of orthography map combining ranging from based on present sample tracing point takes in front of travel direction 2 meters to 22
Rice, 10 meters of left, the road area of the 10 meters of coverings in right, as shown in Fig. 2, two neighboring sample track point：1 He of sample track point
The value of sample track point the distance between 2 is 20 meters, and the corresponding mapland 1 of two sample track points and mapland 2 are covered
The road of lid is respectively sample track point 1 and the road area using the corresponding orthography map combining to be rendered of tracing point 2
Range.
Wherein, road area range includes at least one grid, specifically, net can be determined according to preset resolution ratio
The number of lattice, such as preset resolution ratio are 1000*1000, even the resolution ratio of the orthophotoquad generated is 1000*1000, then
Enable in mapland includes 1000*1000 grid.
Step 120, the travel direction angle according to the coordinate and collecting vehicle of the sample track point obtain the flat of each grid
Areal coordinate；
Specifically, can be calculated according to grid plan coordinate calculation formula below：
X2=x1*cos (yaw)+y1*sin (yaw)+X0；
Y2=-x1*sin (yaw)+y1*cos (yaw)+Y0；
X2 and y2 indicates that the plane coordinates of grid, X0 and Y0 indicate that the coordinate of sample track point, x1 and y1 indicate that grid exists
Using sample track point as the mesh coordinate in the grid coordinate system of coordinate origin, yaw indicates travel direction angle, and plane here is sat
Mark refers to the coordinate in rectangular coordinate system.
Step S130, according to the plane coordinates of each grid, generated when driving on the road from collecting vehicle described in
The height value of each grid is obtained in the point cloud data of road, the height value and plane coordinates of grid constitute the three-dimensional of grid and sit
Mark；
Wherein, point cloud data is a large amount of point data set, and that reflects the road surfaces along collecting vehicle driving trace
The three-dimensional coordinate of sampled point.Wherein it is possible to be realized using the three-dimensional laser radar that collecting vehicle carries in collecting vehicle driving process
Acquisition to the three-dimensional coordinate of the sampled point of road surface.
Preferably, according to the plane coordinates of each grid, the point cloud of the road generated when driving on road from collecting vehicle
In data, the process of the height value of each grid is obtained, is specifically included：
For each grid, according to the plane coordinates of the grid, the road generated when driving on road from collecting vehicle
Target point is searched in point cloud data, the distance between the target point and the grid value are less than other each points in point cloud data and should
The distance between grid is worth；
The height value of the target point is determined as to the height value of the grid.
The above process, calculates the distance value each put in point cloud data apart from the grid, and from calculated distance
Find lowest distance value in value, and using the height value in the coordinate of the corresponding point of the lowest distance value as the height value of grid,
So by way of the shortest distance, the point in the point cloud nearest apart from each grid position is found, ensure that grid height value
Accuracy.
Step S140, it is obtained according to the three-dimensional coordinate of each grid, the image data of the road and preset camera parameter
To the corresponding color of each grid, the camera parameter is mounted in the camera ginseng of image data described in the collecting vehicle photographs
Number；
Specifically, first, for a grid, target road picture is determined from the image data of the road, it is described
Target road picture shooting is to the grid corresponding region image；
Wherein, the road image data acquired in collecting vehicle driving process reflects the road along driving trace in practice
Road surface road conditions, and each width picture be identified with shoot the picture when position coordinates.
Wherein, the image data of road can directly shoot gained by the camera of collecting vehicle, such as with shooting 10 per second
Shooting speed carry out picture shooting.Can also be to record a video to real road, then by video and collecting vehicle
Driving trace such as inertial navigation track or GPS track, carry out it is pictured processing obtain the image data with position coordinates.Due to regarding
Frequency file is made of image one by one, therefore by carrying out frame extraction to video file, and is matched each frame and corresponded to
Inertial navigation position or GPS location, you can obtain the image data for having camera site.
Then, according to the three-dimensional coordinate of grid and preset camera parameter, determine grid in the target road picture
Corresponding pixel；
Specifically, determining the process of three-dimensional coordinate corresponding pixel in target road picture of grid, it is related to
The conversion of coordinate, since the three-dimensional coordinate of grid is the three-dimensional coordinate in world coordinate system, so the conversion of coordinate includes will
Three-dimensional coordinate of the grid in world coordinate system is converted to the three-dimensional coordinate in camera coordinates system, will be in camera coordinates system
Three-dimensional coordinate is converted to the pixel coordinate in image coordinate system, specifically includes：
Assuming that：P indicates that three-dimensional coordinate of the grid in world coordinate system, T indicate the target point-of translation vector=shooting
Camera origin, spin matrix R are：Rx(yaw)*Ry(pitch)*Rz(roll), wherein deflection yaw, pitch angle pitch are turned over
Roll angle roll is camera coordinates system around x, y, the rotation angle of z-axis；
Coordinate P, which is converted to the coordinate in camera coordinates system, is：Pc(xc,yc,zc)=R (P-T)；
Coordinate Pc, which is converted to the coordinate in image coordinate system, is：P0(x0,y0), wherein X0=fx*(xc/zc)+cx, y0
=fy*(yc/zc)+cy, wherein cxAnd cyFor to light shaft offset, fxAnd fyFor physics focal length.Wherein, light shaft offset, physics focal length,
Camera coordinates system belongs to preset camera parameter around x, the rotation angle of y, z-axis.
Finally, using the color of the pixel as the corresponding color of grid.
Step S150, by each grid, the color rendering of corresponding pixel is corresponding in orthophotoquad to be rendered
The corresponding color of grid；
Wherein, mesh point is coloured according to the grid corresponding color, routes coverage is after the completion of coloring
Orthophotoquad is obtained.
In the technical solution of the present embodiment, in the tracing point generated when driving on road from collecting vehicle, sampling rail is chosen
Mark point, for a sample track point, according to the coordinate of the sample track point, the travel direction angle of collecting vehicle and preset drawing
The region length of side determines the road area range of orthography map combining to be rendered, and the road area range includes several
Grid calculates the plane coordinates of each grid, according to the plane coordinates of each grid, from collecting vehicle on the road when driving
The height value of each grid is obtained in the point cloud data of the road generated, and then obtains the three-dimensional coordinate of grid, Jin Ergen
The corresponding face of each grid is obtained according to the three-dimensional coordinate of each grid, the image data of the road and preset camera parameter
Color, and be the corresponding face of corresponding grid by the color rendering of each grid corresponding pixel in orthophotoquad to be rendered
Color.In above-mentioned orthophotoquad generating process, point cloud data includes the true altitude value of pavement of road sampled point, so point cloud
The height value that each grid is obtained in data is the true altitude value that net region corresponds to image, therefore includes true high based on being somebody's turn to do
The three-dimensional coordinate of angle value goes to generate the height relief variation that orthophotoquad adequately considers road surface, eliminates due to height
The inaccurate problem of the orthophotoquad that is generated caused by value parameter inaccuracy.
In one embodiment of the application, for a grid, target road picture is determined from the image data of the road,
The target road picture shooting to the grid corresponding region image process, as shown in figure 3, specifically including：
Step S300, it is directed to a grid, calculates the camera site of each width picture in the road image data to institute
State the distance between the plane coordinates of grid value；
Specifically, as shown in figure 4, camera can only take positioned at 22 meters of 2 meters of minimum photographic distance and farthest shooting distance
Between pavement of road, so determining target road figure with the distance value of the camera site of picture to the plane coordinates of the grid
Piece.
By taking the coordinate of camera site is transformed plane coordinates as an example：Camera site coordinate is (x1, y1), and a grid is put down
Areal coordinate is (X1, Y1), calculates camera site coordinate to the distance between grid plan coordinate value：
Step S310, the mileage chart being located at distance value between the minimum photographic distance value of camera and farthest shooting distance value
Piece is as the target road picture for taking grid corresponding region image；
Specifically, calculated distance value may there are one or multiple be located at 2 meters of minimum photographic distance and farthest shooting
Between 22 meters of distance, that is, there is the mileage chart that distance value is located between the minimum photographic distance value of camera and farthest shooting distance value
Piece is the situation of a width or a width or more, then,
If it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
Then using the width road picture as the target road picture for taking grid corresponding region image；
If it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
More than, then it is directed to each width road picture, calculates the minimum photographic distance of road the picture corresponding distance value and the camera
The absolute difference of value, the corresponding distance value of the road picture are the camera site of picture to the plane coordinates of the grid
Distance value；
Select the road picture of absolute difference minimum as the target road for taking grid corresponding region image
Picture.
In above-described embodiment, when the minimum photographic distance value and farthest shooting distance value for being located at camera there are several distance values
Between road picture when, select road picture camera site net region image is taken when nearest apart from grid position
One width road picture is obtained as coloring foundation this is because the picture of the object more closely taken apart from object is more clear
Color it is the truest, and then select road picture camera site it is nearest apart from grid position when take net region image
A width road picture as coloring foundation, can enable mesh point coloring the most close to the actual color of picture point, enable generation
Orthophotoquad is more accurate.
The embodiment of the present application also provides a kind of orthophotoquad generating means, as shown in figure 5, the device includes：
Sample track point selection unit 500, for according to preset sampling rule, being given birth to when driving on road from collecting vehicle
At tracing point in, choose sample track point；
Range determination unit 510, for being directed to a sample track point, according to the coordinate of the sample track point, collecting vehicle
Travel direction angle and the preset mapland length of side, determine the road area range of orthography map combining to be rendered, institute
It includes at least one grid to state road area range, and each grid corresponds to a pixel of the orthophotoquad to be rendered
Point；
Plane coordinates determination unit 520 is used for the travel direction angle of the coordinate and collecting vehicle according to the sample track point,
Obtain the plane coordinates of each grid；
Three-dimensional coordinate determination unit 530, for the plane coordinates according to each grid, from collecting vehicle in the road uplink
The height value of each grid is obtained in the point cloud data of the road generated when sailing, the height value and plane coordinates of grid are constituted
The three-dimensional coordinate of grid；
Color determination unit 540, for according to the three-dimensional coordinate of each grid, the image data of the road and preset
Camera parameter obtains the corresponding color of each grid, and the camera parameter is mounted in mileage chart described in the collecting vehicle photographs
The camera parameter of sheet data；
Rendering unit 550 is used for the color wash with watercolours of each grid corresponding pixel in orthophotoquad to be rendered
Dye is the corresponding color of corresponding grid.
Preferably, the sample track point selection unit 500 is according to preset sampling rule, from collecting vehicle in road uplink
In the tracing point generated when sailing, the process of sample track point is chosen, is specifically included：
It is equal to the sampling rule of preset distance threshold according to the distance between two neighboring sample track point, from collecting vehicle
In the tracing point generated when driving on road, sample track point is chosen.
Preferably, the three-dimensional coordinate determines plane coordinates of the Unit 530 according to each grid, from collecting vehicle in the road
The process that the height value of each grid is obtained in the point cloud data for the road that road generates when driving, specifically includes：
For each grid, according to the plane coordinates of the grid, the road generated when driving on road from collecting vehicle
Target point is searched in point cloud data, the distance between the target point and the grid value are less than other each points in point cloud data and should
The distance between grid is worth；
The height value of the target point is determined as to the height value of the grid.
Preferably, the color determination unit 540 according to the three-dimensional coordinate of each grid, the image data of the road and
Preset camera parameter obtains the process of the corresponding color of each grid, specifically includes：
For a grid, target road picture, the target road picture are determined from the image data of the road
Take the grid corresponding region image；
According to the three-dimensional coordinate of grid and preset camera parameter, determine that grid is corresponding in the target road picture
Pixel；Using the color of the pixel as the corresponding color of grid.
Preferably, the color determination unit 540 is directed to a grid, and target is determined from the image data of the road
Road picture, the target road picture shooting are specifically included to the process of the grid corresponding region image：
For a grid, camera site the putting down to the grid of each width picture in the road image data is calculated
The distance value of areal coordinate；
Distance value is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value as bat
Take the photograph the target road picture of grid corresponding region image.
Preferably, distance value is located at the minimum photographic distance value of camera and farthest shooting distance by the determination unit 540
Process of the road picture as the target road picture for taking grid corresponding region image between value, specifically includes：
If it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
Then using the width road picture as the target road picture for taking grid corresponding region image；
If it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
More than, then it is directed to each width road picture, calculates the minimum photographic distance of road the picture corresponding distance value and the camera
The absolute difference of value, the corresponding distance value of the road picture are the camera site of road picture to the plane seat of the grid
Target distance value；
Select the road picture of absolute difference minimum as the target road for taking grid corresponding region image
Picture.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the application.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or range.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (12)
1. a kind of generation method of orthophotoquad, which is characterized in that the method includes：
According to preset sampling rule, in the tracing point generated when driving on road from collecting vehicle, sample track point is chosen；
For a sample track point, according to the coordinate of the sample track point, the travel direction angle of collecting vehicle and preset drawing
The region length of side determines the road area range of orthography map combining to be rendered, and the road area range includes at least
One grid, each grid correspond to a pixel of the orthophotoquad to be rendered；
According to the travel direction angle of the coordinate and collecting vehicle of the sample track point, the plane coordinates of each grid is obtained；
According to the plane coordinates of each grid, the point cloud data of the road generated when driving on the road from collecting vehicle
In obtain the height value of each grid, the height value and plane coordinates of grid constitute the three-dimensional coordinate of grid；
Each grid is obtained according to the three-dimensional coordinate of each grid, the image data of the road and preset camera parameter to correspond to
Color, the camera parameter is mounted in the camera parameter of road image data described in the collecting vehicle photographs；
It is the corresponding face of corresponding grid by the color rendering of each grid corresponding pixel in orthophotoquad to be rendered
Color.
2. the method as described in claim 1, which is characterized in that it is described according to preset sampling rule, from collecting vehicle in road
On in the tracing point that generates when driving, choose sample track point and specifically include：
It is equal to the sampling rule of preset distance threshold according to the distance between two neighboring sample track point, from collecting vehicle in road
In the tracing point that road generates when driving, sample track point is chosen.
3. the method as described in claim 1, which is characterized in that according to the plane coordinates of each grid, from collecting vehicle in road
On in the point cloud data of road that generates when driving, the height value for obtaining each grid includes：
For each grid, according to the plane coordinates of the grid, the point cloud of the road generated when driving on road from collecting vehicle
Search target point in data, the distance value of the target point and the grid be less than in point cloud data other each points and the grid away from
From value；
The height value of the target point is determined as to the height value of the grid.
4. the method as described in claim 1, which is characterized in that the three-dimensional coordinate of each grid of basis, the road
Image data and preset camera parameter obtain the corresponding color of each grid：
For a grid, target road picture, the target road picture shooting are determined from the image data of the road
To the grid corresponding region image；
According to the three-dimensional coordinate of grid and preset camera parameter, grid corresponding pixel in the target road picture is determined
Point；
Using the color of the pixel as the corresponding color of grid.
5. method as claimed in claim 4, which is characterized in that it is described to be directed to a grid, from the image data of the road
Middle determining target road picture, the target road picture shooting to the grid corresponding region image, including：
For a grid, camera site the putting down to the grid of each width road picture in the road image data is calculated
The distance value of areal coordinate；
Distance value is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value as taking
The target road picture of grid corresponding region image.
6. method as claimed in claim 5, which is characterized in that it is described by distance value be located at camera minimum photographic distance value and
Road picture between farthest shooting distance value is as the target road picture for taking grid corresponding region image, packet
It includes：
It, will if it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
The width road picture is as the target road picture for taking grid corresponding region image；
If it is a width or more that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
It is then directed to each width road picture, calculates the difference of the minimum photographic distance value of the corresponding distance value of road picture and the camera
Be worth absolute value, the corresponding distance value of the road picture be road picture camera site to the grid plane coordinates away from
From value；
Select the road picture of absolute difference minimum as the target road picture for taking grid corresponding region image.
7. a kind of generating means of orthophotoquad, which is characterized in that described device includes：
Sample track point selection unit, for regular, the rail generated when driving on road from collecting vehicle according to preset sampling
In mark point, sample track point is chosen；
Range determination unit, for being directed to a sample track point, according to the coordinate of the sample track point, the traveling side of collecting vehicle
To angle and the preset mapland length of side, the road area range of orthography map combining to be rendered, the roadway area are determined
Domain range includes at least one grid, and each grid corresponds to a pixel of the orthophotoquad to be rendered；
Plane coordinates determination unit is used for the travel direction angle of the coordinate and collecting vehicle according to the sample track point, obtains every
The plane coordinates of a grid；
Three-dimensional coordinate determination unit is given birth to from collecting vehicle on the road when driving for the plane coordinates according to each grid
At the road point cloud data in obtain the height value of each grid, the height value and plane coordinates of grid constitute grid
Three-dimensional coordinate；
Color determination unit, for being joined according to the three-dimensional coordinate of each grid, the image data of the road and preset camera
Number obtains the corresponding color of each grid, and the camera parameter is mounted in road image data described in the collecting vehicle photographs
Camera parameter；
Rendering unit, for the color rendering of corresponding pixel to be corresponding in orthophotoquad to be rendered by each grid
The corresponding color of grid.
8. device as claimed in claim 7, which is characterized in that the sample track point selection unit is advised according to preset sampling
Then, in the tracing point generated when driving on road from collecting vehicle, the process of sample track point is chosen, is specifically included：
It is equal to the sampling rule of preset distance threshold according to the distance between two neighboring sample track point, from collecting vehicle in road
In the tracing point that road generates when driving, sample track point is chosen.
9. device as claimed in claim 7, which is characterized in that the three-dimensional coordinate determination unit is according to the plane of each grid
Coordinate obtains the height value of each grid in the point cloud data of the road generated when driving on the road from collecting vehicle
Process, specifically include：
For each grid, according to the plane coordinates of the grid, the point cloud of the road generated when driving on road from collecting vehicle
Target point is searched in data, the distance between the target point and the grid value are less than other each points and the grid in point cloud data
The distance between value；
The height value of the target point is determined as to the height value of the grid.
10. device as claimed in claim 7, which is characterized in that the color determination unit is sat according to the three-dimensional of each grid
Mark, the image data of the road and preset camera parameter obtain the process of the corresponding color of each grid, specifically include：
For a grid, target road picture, the target road picture shooting are determined from the image data of the road
To the grid corresponding region image；
According to the three-dimensional coordinate of grid and preset camera parameter, grid corresponding pixel in the target road picture is determined
Point；
Using the color of the pixel as the corresponding color of grid.
11. device as claimed in claim 10, which is characterized in that the color determination unit is directed to a grid, from described
Target road picture, mistake of the target road picture shooting to the grid corresponding region image are determined in the image data of road
Journey, including：
For a grid, the plane for calculating camera site to the grid of each width picture in the road image data is sat
Target distance value；
Distance value is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value as taking
The target road picture of grid corresponding region image.
12. device as claimed in claim 11, which is characterized in that distance value is located at camera most by the color determination unit
Road picture between close-perspective recording photographic range value and farthest shooting distance value is as the mesh for taking grid corresponding region image
The process of road picture is marked, including：
It, will if it is a width that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
The width road picture is as the target road picture for taking grid corresponding region image；
If it is a width or more that distance value, which is located at the road picture between the minimum photographic distance value of camera and farthest shooting distance value,
It is then directed to each width road picture, calculates the difference of the minimum photographic distance value of the corresponding distance value of road picture and the camera
Be worth absolute value, the corresponding distance value of the road picture be road picture camera site to the grid plane coordinates away from
From value；
Select the road picture of absolute difference minimum as the target road picture for taking grid corresponding region image.
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| CN201710048480.2A CN108335337B (en) | 2017-01-20 | 2017-01-20 | method and device for generating orthoimage picture |
| PCT/CN2018/072318 WO2018133727A1 (en) | 2017-01-20 | 2018-01-12 | Method and apparatus for generating orthophoto map |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710048480.2A CN108335337B (en) | 2017-01-20 | 2017-01-20 | method and device for generating orthoimage picture |
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| CN108335337B CN108335337B (en) | 2019-12-17 |
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| WO (1) | WO2018133727A1 (en) |
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Also Published As
| Publication number | Publication date |
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| CN108335337B (en) | 2019-12-17 |
| WO2018133727A1 (en) | 2018-07-26 |
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